diff --git a/.gitattributes b/.gitattributes
index 9019abb583c1bb79eb9f3d8cde8d3f83688c5263..ae49af61d1fa4c5a2b60335c3d5f83efcb6f8ea1 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -3284,3 +3284,6 @@ dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh
 dataset/desktop_supplies/office_stationery/e8b5d40c3fae5039a359a6aa4a1f9bd8/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/mesh/notebook_013.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/ebd974558dd4545fa08590cad7148bed/notebook_013.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/ed66c907d39e5f0fa6908b88252cde7f.usd filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook_gs.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/ed66c907d39e5f0fa6908b88252cde7f.urdf b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/ed66c907d39e5f0fa6908b88252cde7f.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..02e1c72bf6c283e3a23ddcbd959adbd060cd20c1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/ed66c907d39e5f0fa6908b88252cde7f.urdf
@@ -0,0 +1,57 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="open_notebook">
+   <link name="open_notebook">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/open_notebook.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+         <geometry>
+            <mesh filename="mesh/open_notebook_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.50</mu1>
+            <mu2>0.40</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>0.215000</scale>
+         <version>v0.1.7</version>
+         <category>open notebook</category>
+         <description>spiral-bound notebook with rectangular pages and metallic rings</description>
+         <min_height>0.023</min_height>
+         <max_height>0.023</max_height>
+         <real_height>0.023</real_height>
+         <min_mass>0.2</min_mass>
+         <max_mass>0.4</max_mass>
+         <generate_time>20260120020906</generate_time>
+         <gs_model>mesh/open_notebook_gs.ply</gs_model>
+      </extra_info>
+   </link>
+   <custom_data>
+      <quality>
+         <MeshGeoChecker>YES</MeshGeoChecker>
+         <ImageSegChecker>YES</ImageSegChecker>
+         <ImageAestheticChecker>4.352893352508545</ImageAestheticChecker>
+         <overall>NO</overall>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+      <affordance>
+         <part_count>3</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0 0.0" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+      </affordance>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/ed66c907d39e5f0fa6908b88252cde7f.usd b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/ed66c907d39e5f0fa6908b88252cde7f.usd
new file mode 100644
index 0000000000000000000000000000000000000000..efd6448f89a5109260125b7a3e15fc10391ead8b
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/ed66c907d39e5f0fa6908b88252cde7f.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83370b039990399344f15c8bccb43429e56159c1c1a68ac46e07a79113a55716
+size 327478
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/material.mtl b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bf525af15d340ee6a74e7de5fb1f4640d7bc11d5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl material_0
+Ka 0.98039216 0.98039216 0.98039216
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.98039216 0.98039216 0.98039216
+Ns 1.00000000
+map_Kd material_0.png
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea2edbdf12e34cb521f33681b07999089063abac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53daeab9957b09b0c3b51535131aac8fe0682d1ef73f4d7f4232aa6773367769
+size 1015578
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook.glb b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e3bb2ac7c88d7b57696bca7ed02f71b702abd7b6
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8310b2a3e8bb46f1187b8fa348f8c2b104eeb21e29c3f244695ec1e70d89ad08
+size 1250300
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1a3833d074144f32bfec4224948124f88655ae5
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook.obj
@@ -0,0 +1,21552 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o open_notebook.obj
+usemtl material_0
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diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7d6ee1c34c205add4fcf66aca8a4aac8ed8a95de
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook_collision.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook_gs.ply b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook_gs.ply
new file mode 100644
index 0000000000000000000000000000000000000000..ef309c1e06f2f51e3f91657ac8fa32510af4a793
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mesh/open_notebook_gs.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d0f6bebe3e752a91686676c5ffc0c4e88797c759a3702ee9103d1670166e21
+size 2732041
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/ed66c907d39e5f0fa6908b88252cde7f.xml b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/ed66c907d39e5f0fa6908b88252cde7f.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6635d7abb7da3efbf961377519c513f7e8360005
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/ed66c907d39e5f0fa6908b88252cde7f.xml
@@ -0,0 +1,24 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="open_notebook">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/open_notebook.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/open_notebook_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/open_notebook_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/open_notebook_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/open_notebook_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/open_notebook_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="open_notebook">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/material_0.png b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea2edbdf12e34cb521f33681b07999089063abac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53daeab9957b09b0c3b51535131aac8fe0682d1ef73f4d7f4232aa6773367769
+size 1015578
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook.obj b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e2d4316cbe558654bdb813aa4f4ddc509cf1c1bc
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook.obj
@@ -0,0 +1,21552 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+
+o open_notebook.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision.obj b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eb8db288077a72f5f1e78361e93056e607346683
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision.obj
@@ -0,0 +1,3616 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_0.obj b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7aee5b2f5c44dc709f87bd1ded8af2112f3923cd
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_0.obj
@@ -0,0 +1,445 @@
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diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_1.obj b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e6d6c510bc5e7c80b2514d471b8dba9141abafa
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_1.obj
@@ -0,0 +1,1381 @@
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diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_2.obj b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5c7020ffd47929464c43e00e8ecf066e377509f1
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_2.obj
@@ -0,0 +1,1132 @@
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diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_3.obj b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15a8cfd650a8e30233e03ff3b17b1ea749bd25da
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_3.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_4.obj b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4038b129b8acb4d3fb413eba810412d3cb2e0d97
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/mjcf/mesh/open_notebook_collision_4.obj
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diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/textures/material_0.png b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/textures/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea2edbdf12e34cb521f33681b07999089063abac
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/textures/material_0.png
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+version https://git-lfs.github.com/spec/v1
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+size 1015578
diff --git a/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/video.mp4 b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3bc2ec7034541cf0db6bf0995f177bdcd7b47783
--- /dev/null
+++ b/dataset/desktop_supplies/office_stationery/ed66c907d39e5f0fa6908b88252cde7f/video.mp4
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